[dcribbs]

#pragma config(Hubs, S1, HTMotor, HTMotor, none, none)
#pragma config(Hubs, S4, HTMotor, HTMotor, HTServo, none)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Sensor, S2, gyro, sensorI2CHiTechnicGyro)
#pragma config(Sensor, S3, HTSMUX, sensorI2CCustom)
#pragma config(Sensor, S4, , sensorI2CMuxController)

Did your program work with S1 and S4 both defined as a Hub and a Sensor.

I did not think that was possible. When I used the motor and sensor setup tab it gave me an error when I tried to define a sensor port (S4) as 2 different things.